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Updated op modes to work with new 2.x FTC SDK software.
1 parent 07cfe41 commit 3da211e

16 files changed

+103
-47
lines changed

‎opModes/PushBotAuto.java‎

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@@ -1,16 +1,17 @@
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package com.qualcomm.ftcrobotcontroller.opmodes;
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package org.firstinspires.ftc.teamcode;
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//------------------------------------------------------------------------------
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//
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// PushBotAuto
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//
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/**
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* Provide a basic autonomous operational mode that uses the left and right
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* drive motors and associated encoders implemented using a state machine for
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* the Push Bot.
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*
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* @author SSI Robotics
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* @version 2015-08-01-06-01
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* @version 2016-09-05-06-01
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*/
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public class PushBotAuto extends PushBotTelemetry
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‎opModes/PushBotAutoSensors.java‎

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@@ -1,17 +1,18 @@
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package com.qualcomm.ftcrobotcontroller.opmodes;
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package org.firstinspires.ftc.teamcode;
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//------------------------------------------------------------------------------
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//
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// PushBotAutoSensors
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//
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/**
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* Provide a basic autonomous operational mode that uses the left and right
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* drive motors and associated encoders, the left arm motor and associated touch
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* sensor, IR seeker V3 and optical distance sensor implemented using a state
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* machine for the Push Bot.
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*
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* @author SSI Robotics
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* @version 2015-08-13-19-48
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* @version 2016-09-05-19-48
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*/
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public class PushBotAutoSensors extends PushBotTelemetrySensors
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‎opModes/PushBotDriveTouch.java‎

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@@ -1,6 +1,7 @@
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package com.qualcomm.ftcrobotcontroller.opmodes;
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package org.firstinspires.ftc.teamcode;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import com.qualcomm.robotcore.hardware.DcMotor;
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import com.qualcomm.robotcore.hardware.TouchSensor;
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@@ -10,6 +11,9 @@
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* will run its motors unless a touch sensor
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* is pressed.
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*/
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@TeleOp(name = "PushBotDriveTouch", group = "pushbot")
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//@Disabled
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// comment out the above line if you want this op mode to be enabled.
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public class PushBotDriveTouch extends LinearOpMode {
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DcMotor leftMotor;
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DcMotor rightMotor;
@@ -42,9 +46,10 @@ public void runOpMode() throws InterruptedException {
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}
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telemetry.addData("isPressed", String.valueOf(touchSensor.isPressed()));
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telemetry.update();
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idle();
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// Wait for a hardware cycle to allow other processes to run
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waitOneFullHardwareCycle();
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}
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}

‎opModes/PushBotHardware.java‎

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Original file line numberDiff line numberDiff line change
@@ -1,9 +1,8 @@
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package com.qualcomm.ftcrobotcontroller.opmodes;
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package org.firstinspires.ftc.teamcode;
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import com.qualcomm.ftccommon.DbgLog;
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import com.qualcomm.robotcore.eventloop.opmode.OpMode;
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import com.qualcomm.robotcore.hardware.DcMotor;
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import com.qualcomm.robotcore.hardware.DcMotorController;
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import com.qualcomm.robotcore.hardware.Servo;
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import com.qualcomm.robotcore.util.Range;
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@@ -20,7 +19,7 @@
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* calls to methods will fail, but will not cause the application to crash.
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*
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* @author SSI Robotics
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* @version 2015-08-13-20-04
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* @version 2016-09-05-20-04
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*/
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public class PushBotHardware extends OpMode
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@@ -391,7 +390,7 @@ public void run_using_left_drive_encoder ()
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if (v_motor_left_drive != null)
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{
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v_motor_left_drive.setMode
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( DcMotorController.RunMode.RUN_USING_ENCODERS
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( DcMotor.RunMode.RUN_USING_ENCODER
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);
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}
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@@ -410,7 +409,7 @@ public void run_using_right_drive_encoder ()
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if (v_motor_right_drive != null)
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{
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v_motor_right_drive.setMode
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( DcMotorController.RunMode.RUN_USING_ENCODERS
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( DcMotor.RunMode.RUN_USING_ENCODER
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);
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}
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@@ -447,10 +446,10 @@ public void run_without_left_drive_encoder ()
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if (v_motor_left_drive != null)
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{
449448
if (v_motor_left_drive.getMode () ==
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DcMotorController.RunMode.RESET_ENCODERS)
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DcMotor.RunMode.STOP_AND_RESET_ENCODER)
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{
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v_motor_left_drive.setMode
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( DcMotorController.RunMode.RUN_WITHOUT_ENCODERS
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( DcMotor.RunMode.RUN_WITHOUT_ENCODER
454453
);
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}
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}
@@ -470,10 +469,10 @@ public void run_without_right_drive_encoder ()
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if (v_motor_right_drive != null)
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{
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if (v_motor_right_drive.getMode () ==
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DcMotorController.RunMode.RESET_ENCODERS)
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DcMotor.RunMode.STOP_AND_RESET_ENCODER)
474473
{
475474
v_motor_right_drive.setMode
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( DcMotorController.RunMode.RUN_WITHOUT_ENCODERS
475+
( DcMotor.RunMode.RUN_WITHOUT_ENCODER
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);
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}
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}
@@ -511,7 +510,7 @@ public void reset_left_drive_encoder ()
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if (v_motor_left_drive != null)
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{
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v_motor_left_drive.setMode
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( DcMotorController.RunMode.RESET_ENCODERS
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( DcMotor.RunMode.STOP_AND_RESET_ENCODER
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);
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}
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@@ -530,7 +529,7 @@ public void reset_right_drive_encoder ()
530529
if (v_motor_right_drive != null)
531530
{
532531
v_motor_right_drive.setMode
533-
( DcMotorController.RunMode.RESET_ENCODERS
532+
( DcMotor.RunMode.STOP_AND_RESET_ENCODER
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);
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}
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‎opModes/PushBotHardwareSensors.java‎

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@@ -1,4 +1,4 @@
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package com.qualcomm.ftcrobotcontroller.opmodes;
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package org.firstinspires.ftc.teamcode;
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import com.qualcomm.ftccommon.DbgLog;
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import com.qualcomm.robotcore.hardware.IrSeekerSensor;
@@ -20,7 +20,7 @@
2020
* calls to methods will fail, but will not cause the application to crash.
2121
*
2222
* @author SSI Robotics
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* @version 2015-08-13-20-04
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* @version 2016-09-05-20-04
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*/
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public class PushBotHardwareSensors extends PushBotTelemetry
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‎opModes/PushBotIrEvent.java‎

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@@ -1,4 +1,4 @@
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package com.qualcomm.ftcrobotcontroller.opmodes;
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package org.firstinspires.ftc.teamcode;
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//------------------------------------------------------------------------------
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//
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* IR seeker implemented using a state machine for the Push Bot.
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*
1111
* @author SSI Robotics
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* @version 2015-08-16-08-41
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* @version 2016-09-05-08-41
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*/
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public class PushBotIrEvent extends PushBotTelemetrySensors
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‎opModes/PushBotIrSeek.java‎

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Original file line numberDiff line numberDiff line change
@@ -1,8 +1,7 @@
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package com.qualcomm.ftcrobotcontroller.opmodes;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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package org.firstinspires.ftc.teamcode;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import com.qualcomm.robotcore.hardware.DcMotor;
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import com.qualcomm.robotcore.hardware.IrSeekerSensor;
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import com.qualcomm.robotcore.util.Range;
@@ -12,12 +11,16 @@
1211
* An example linear op mode where the pushbot
1312
* will track an IR beacon.
1413
*/
14+
@TeleOp(name = "PushBotIrSeek", group = "pushbot")
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//@Disabled
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// comment out the above line if you want this op mode to be enabled.
1517
public class PushBotIrSeek extends LinearOpMode {
1618
final static double kBaseSpeed = 0.15; // Higher values will cause the robot to move faster
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1820
final static double kMinimumStrength = 0.08; // Higher values will cause the robot to follow closer
1921
final static double kMaximumStrength = 0.60; // Lower values will cause the robot to stop sooner
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23+
//IrSeekerSensor irSeeker;
2124
IrSeekerSensor irSeeker;
2225
DcMotor leftMotor;
2326
DcMotor rightMotor;
@@ -48,8 +51,9 @@ public void runOpMode() throws InterruptedException {
4851
telemetry.addData("Seeker", irSeeker.toString());
4952
telemetry.addData("Speed", " Left=" + leftMotor.getPower() + " Right=" + rightMotor.getPower());
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51-
//Wait one hardware cycle to avoid taxing the processor
52-
waitOneFullHardwareCycle();
54+
telemetry.update();
55+
56+
idle();
5357
}
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5559
}

‎opModes/PushBotManual.java‎

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package com.qualcomm.ftcrobotcontroller.opmodes;
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package org.firstinspires.ftc.teamcode;
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//------------------------------------------------------------------------------
44
//
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// PushBotManual
66
//
7+
8+
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
9+
710
/**
811
* Provide a basic manual operational mode that uses the left and right
912
* drive motors, left arm motor, servo motors and gamepad input from two
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1215
* @author SSI Robotics
1316
* @version 2015-08-01-06-01
1417
*/
18+
@TeleOp(name="PushBotManual", group = "pushbot")
19+
//@Disabled
20+
// comment out the above line if you want this op mode to be enabled.
1521
public class PushBotManual extends PushBotTelemetry
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{

‎opModes/PushBotManual1.java‎

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package com.qualcomm.ftcrobotcontroller.opmodes;
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package org.firstinspires.ftc.teamcode;
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//------------------------------------------------------------------------------
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//
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// PushBotManual
66
//
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8+
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
9+
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
10+
711
/**
812
* Provide a basic manual operational mode that uses the left and right
913
* drive motors, left arm motor, servo motors and gamepad input from only one
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1216
* @author SSI Robotics
1317
* @version 2015-09-05-20-12
1418
*/
19+
@TeleOp(name="PushBotManual", group = "pushbot")
20+
@Disabled
1521
public class PushBotManual1 extends PushBotTelemetry
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1723
{

‎opModes/PushBotManualSensors.java‎

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package com.qualcomm.ftcrobotcontroller.opmodes;
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package org.firstinspires.ftc.teamcode;
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33
//------------------------------------------------------------------------------
44
//
55
// PushBotManualSensors
66
//
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8+
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
9+
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
10+
711
/**
812
* Provide a basic manual operational mode that uses the left and right
913
* drive motors, left arm motor, servo motors and gamepad input from two
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1418
* @author SSI Robotics
1519
* @version 2015-08-25-14-40
1620
*/
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@TeleOp(name = "PushBotManualSensors", group = "pushbot")
22+
@Disabled
23+
// comment out the above line if you want this op mode to be enabled.
1724
public class PushBotManualSensors extends PushBotTelemetrySensors
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1926
{

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